CN203199070U - Negative-pressure-suction climbing type robot for detecting bridge crack - Google Patents

Negative-pressure-suction climbing type robot for detecting bridge crack Download PDF

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Publication number
CN203199070U
CN203199070U CN 201320212534 CN201320212534U CN203199070U CN 203199070 U CN203199070 U CN 203199070U CN 201320212534 CN201320212534 CN 201320212534 CN 201320212534 U CN201320212534 U CN 201320212534U CN 203199070 U CN203199070 U CN 203199070U
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China
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negative
pressure adsorption
arm
type robot
drive motor
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Expired - Fee Related
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CN 201320212534
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Chinese (zh)
Inventor
尹周平
朱晓辉
罗冲
吴昊
江海霞
岳岚
潘欣
尹鹏
钟自鸣
张亮
王晓利
熊坤
朱钦淼
吴育家
杨杰
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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Abstract

The utility model discloses a negative-pressure-suction climbing type robot for detecting a bridge crack. The negative-pressure-suction climbing type robot for detecting the bridge crack comprises a camera shooting unit, a front mechanical foot, a rear mechanical foot and a wireless communication unit, wherein the front mechanical foot and the rear mechanical foot are connected with each other through a joint connecting mechanism, the front mechanical foot and the rear mechanical foot are respectively provided with a negative-pressure suction assembly and a walk driving assembly, and therefore the front mechanical foot and the rear mechanical foot can be sucked on the surfaces of the bridges with different working conditions and conduct climbing and walking. The camera shooting unit is arranged on the front mechanical foot and used for shooting an area to be detected and sending a shooting result to the wireless communication unit. The wireless communication unit is arranged on the rear mechanical foot and used for receiving the shooting result of the camera shooting unit, transmitting the shooting result to a control terminal and simultaneously receiving operation instructions from the control terminal. Through the negative-pressure-suction climbing type robot for detecting the bridge crack, bridge crack detection can be carried out in the rapid and accurate mode which is convenient to control. In addition, human subjective interference factors can be effectively eliminated, and the detection cost is reduced. The negative-pressure-suction climbing type robot for detecting the bridge crack is particularly suitable for occasions of detecting the bottom surfaces of various complicated bridges.

Description

A kind of negative-pressure adsorption climb type robot for detection of Bridge Crack
Technical field
The utility model belongs to the Bridge Inspection field, more specifically, relates to a kind of negative-pressure adsorption climb type robot for detection of Bridge Crack.
Background technology
The concrete-bridge surface crack is the sudden change in its internal injury cumulative process, is the concentrated expression of the hazard level that reaches of internal injury, therefore its information content is very large, for indication and sign bridge dangerous situation, has key meaning.The structural cracks of most of bridges mainly is created in the bridge bottom, and detection is got up very difficult, and the bridge structure form maximizes and noveltyization increasingly simultaneously, makes the test problems in crack more be difficult to solve.Therefore, if can glue into concrete beam cracks occur early stage, just can in time detect, and follow the tracks of its development, in time safeguarded accordingly repairing, can greatly reduce maintenance cost, the while can ensure the safe operation of public transport effectively.
For the detection of concrete bridge bottom crack, main method of inspection is manual detection both at home and abroad at present.Manual detection mainly is by crack at the bottom of the glass distant surveillance bridge, or build platform at the bottom of the bridge by bridge inspection vehicle or scaffold, the testing staff walks in detection platform, closely with the naked eye or the wide instrument of hand-held crack side observe bridge bottom crack, the parameters such as record length and width.Existing hand-held New Instrument for Crack Width is made of liquid crystal display main frame, micro-amplification probe on the market, after at first needing human eye locking crack target during measurement, could utilize instrument will pop one's head near tested crack, see the crack pattern picture that is exaggerated at LCDs thus, fine setting probe makes the crack substantially vertical with the electronics graduated scale, goes out fracture width according to how many interpretations of the shared scale mark in crack.
Studies show that, existing Bridge Crack detection mode mainly exists following defective or deficiency: (1) is because testing process need to be by detection platform, such as scaffold or bridge inspection vehicle, many bridges reach hundreds of rice, even upper km, finish testing, need to expend a large amount of human and material resources; (2) often have people's subjective disturbing factor in testing process, the result that different testing staff judges is not identical, and visual inspection easily causes visual fatigue for a long time, affects people's observation and judgment, and then affects work efficiency; (3) have potential safety hazard: manual detection needs the staff to stand in unsettled detection on the mobile platform, has huge potential safety hazard for the work condition environment of complexity.Therefore, in association area, need searching more perfect Bridge Crack detection mode and equipment badly, in order to realize more convenient to Bridge Crack or other similar applications, accurately efficient testing process.
The utility model content
Above defective or Improvement requirement for prior art, the purpose of this utility model is to provide a kind of negative-pressure adsorption climb type robot for detection of Bridge Crack, wherein by adopting the design to its structure and key component thereof, can so that control, mode is carried out Bridge Crack and is detected fast and accurately, the subjective disturbing factor that can effectively get rid of simultaneously the people, reduce testing cost, and be particularly useful for the bridge bottom surface detection occasion of all kinds of complexity.
For achieving the above object, the utility model provides a kind of negative-pressure adsorption climb type robot for detection of Bridge Crack, it is characterized in that, this robot comprises image unit, front machinery foot, rear mechanical foot and wireless communication unit, wherein:
Described front machinery foot and rear machinery foot are coupled to each other by articulation mechanism, and they possess separately the negative-pressure adsorption assembly and drive the walking assembly, can be adsorbed on thus on the bridge surface of different operating modes and carry out climbing and walk;
Described image unit is arranged on the front machinery foot, is used for taking zone to be detected, and shooting results is sent to described wireless communication unit;
Described wireless communication unit is arranged on the rear machinery foot, is used for receiving the shooting results of image unit and transmitting it to control terminal, receives simultaneously the instruction of controlling from control terminal.
As further preferably, described negative-pressure adsorption assembly comprises fan electromotor, body supports plate, centrifugal fan, streamlined reefer housing, sucker and rubber seal skirt from top to bottom successively, wherein fan electromotor is arranged on body supports plate upside, and its main shaft runs through the body supports body downwards; Centrifugal fan connects firmly on the fan electromotor main shaft, and links to each other with sucker by streamlined reefer housing; The rubber seal skirt is arranged on the sucker downside and its negative pressure cavity is carried out sealing.
As further preferably, the lower edges of described rubber seal skirt, is avoided sucking particulate matter in the negative-pressure adsorption process in order to realize airflow circulating in the negative-pressure adsorption component internal also with hairbrush simultaneously.
As further preferably, described driving walking assembly comprises wheel drive motor, omni-directional wheel and motor support base, wherein motor support base is symmetricly set on the both sides of body supports plate, be separately installed with the wheel drive motor on each motor support base, omni-directional wheel is installed in the both sides of negative-pressure adsorption assembly corresponding to the axle drive shaft of each wheel drive motor, the band mobile robot moves back and forth under the driving of wheel drive motor thus.
As further preferably, described image unit comprises the first arm, the second arm and CCD camera, and wherein the first arm links to each other to form revolute pair with the second arm end separately, and an other end of the second arm is arranged on the front machinery foot by rotation platform; Described CCD camera is installed in an other end of the first arm free to rotately.
As further preferably, the junction of described the first arm and the second arm is provided with the arm drive motor, realizes thus two rotations of arm in vertical plane; The junction of described CCD camera and the first arm is provided with motor equally, is used for adjusting the pitch angle of CCD camera.
As further preferably, described CCD camera is used for taking image or the video in zone to be detected.
As further preferably, described articulation mechanism comprises anterior articulation, joint drive motor, posterior joint and two flower wheels, and wherein an end of anterior articulation and front machinery foot connect firmly, and an other end links to each other with the output shaft of joint drive motor; One end of posterior joint and rear machinery foot connect firmly, and an other end links to each other with the output shaft of joint drive motor; Two flower wheels are installed in respectively the both sides of joint drive motor by the follower shaft bearing.
In general, the above technical scheme of conceiving by the utility model compared with prior art mainly possesses following technological merit:
1, by take the negative-pressure adsorption climbing robot as workplatform, carry optical camera system and diverse location is gone out the crack detect, need not by extraneous mobile platform such as bridge inspection vehicle etc., can significantly reduce thus testing cost;
2, can replace manual detection according to robot of the present utility model, both guarantee staff's safety, get rid of people's subjective disturbing factor, can detect quickly and accurately again, improve detection efficiency;
3, this negative-pressure adsorption climb type robot also has man-machine interactive system, realize the mutual control of operating personal and robot, can expand simultaneously and have Data Collection and analysis, video demonstration, crack identification, data and the function such as store, arrange alternately, integrated, degree of automation and reliability are high.
Description of drawings
Fig. 1 is the integral structure schematic diagram according to negative-pressure adsorption climb type robot of the present utility model;
Fig. 2 is the structural representation of the forward and backward machinery foot of robot shown in Fig. 1;
Fig. 3 a is the structural representation of the negative-pressure adsorption assembly of negative-pressure adsorption climb type robot;
Fig. 3 b is the decomposing schematic representation of negative-pressure adsorption assembly shown in Fig. 3 a;
Fig. 4 is the structural representation of the driving walking assembly of negative-pressure adsorption climb type robot;
Fig. 5 is the structural representation of the articulation mechanism of negative-pressure adsorption climb type robot;
Fig. 6 is the structural representation of the image unit of negative-pressure adsorption climb type robot;
Fig. 7 is the track route schematic diagram according to negative-pressure adsorption climb type robot of the present utility model.
In institute's drawings attached, identical Reference numeral is used for representing identical element or structure, wherein:
After the front mechanical sufficient 3-articulation 4-of mechanism of 1-image unit 2-, mechanical sufficient 5-wireless communication unit 6-negative-pressure adsorption assembly 7-drives walking assembly 8-anterior articulation 9-joint drive motor 10-posterior joint 11-driven pulley 12-follower shaft bearing 13-CCD camera 14-first arm 15-arm drive motors 16-the second arm 17-rotation platform 18-fan electromotor 19-body supports plate 20-centrifugal fan 21-kuppe 22-sucker 23-rubber seal skirt 24-hairbrush 25-wheel drive motor 26-omni-directional wheel 27-bearing.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
Fig. 1 is the integral structure schematic diagram according to negative-pressure adsorption climb type robot of the present utility model.As shown in fig. 1, this negative-pressure adsorption climb type robot mainly comprises image unit 1, front machinery foot 2, rear machinery foot 4 and wireless communication unit 5, wherein front machinery foot 4 and rear mechanical sufficient 4 is coupled to each other by articulation mechanism 3, they possess separately negative-pressure adsorption assembly 6 and drive walking assembly 7, in the Bridge Crack testing process, can be adsorbed on thus on the bridge surface of different operating modes, and carry out the climbing walking function.Image unit 1 for example is arranged on the front machinery foot 2, along with the machine human motion is used for taking zone to be detected, and shooting results is sent to wireless communication unit 5; Wireless communication unit 5 for example is arranged on the rear machinery foot 4 (setting position of image unit and wireless communication unit also can exchange), be used for receiving the shooting results of image unit and transmitting it to control terminal, receive simultaneously the instruction of controlling from control terminal.
As shown in Fig. 2 and Fig. 3, according to a preferred implementation of the present utility model, the negative-pressure adsorption assembly 6 of front and back machinery foot comprises fan electromotor 18, body supports plate 19, centrifugal fan 20, streamlined reefer housing 21, sucker 22 and rubber seal skirt 23 from top to bottom successively, wherein fan electromotor 18 for example is installed in body supports plate 19 upsides by screw, and its main shaft runs through downwards via the mounting hole on the body supports plate 19; Centrifugal fan 20 connects firmly on the main shaft of fan electromotor, and links to each other with the sucker 22 that possesses the sealed negative-pressure chamber by streamlined reefer housing 21; For air-tightness and the absorption property that guarantees sucker inside, also be provided with rubber seal skirt 23 at sucker 22 downsides, this rubber seal skirt 23 is with a hole that size is identical with the sucker negative pressure cavity, sucker 22 is passed down through by this hole, and the edge of its underpart and rubber seal skirt 23 inner tight are bonding, can realize easily thus the sealing of sucker negative pressure cavity.The lower edges of rubber seal skirt 23 is preferably also with hairbrush 24, help like this to realize airflow circulating in the negative-pressure adsorption component internal, can also avoid effectively simultaneously that the tiny hard particles of wall is inhaled in the sucker negative pressure cavity in the negative-pressure adsorption process, centrifugal fan is caused damage.
As shown in Figure 4, according to another preferred implementation of the present invention, the driving walking assembly 7 of front and back machinery foot comprises wheel drive motor 25, omni-directional wheel 26 and motor support base 27, wherein motor support base 27 is symmetricly set on the both sides of the body supports plate 19 of negative-pressure adsorption assembly 6, be separately installed with wheel drive motor 25 on each motor support base 27, omni-directional wheel 26 is installed in the both sides of negative-pressure adsorption assembly 6 corresponding to the axle drive shaft of each wheel drive motor, the band mobile robot moves back and forth under the driving of wheel drive motor thus.
Fig. 6 is the structural representation of the image unit of negative-pressure adsorption climb type robot.As shown in Figure 6, image unit 1 according to the utility model preferred implementation comprises the first arm 14, the second arm 16 and CCD camera 13, wherein the first arm 14 pivotally links to each other to form revolute pair with the second arm 16 end separately, and can arm drive motor 15 be housed in two arm junctions, realize thus the rotation in the vertical plane, regulate the height of CCD camera.An other end of the second arm 16 is arranged on the front machinery foot 2 by rotation platform 17, can realize thus the rotation in horizontal surface and the vertical plane; CCD camera 13 is installed in an other end of the first arm 14 free to rotately, for example at its junction mounted motor, is convenient to thus adjust the pitch angle of CCD camera.By above setting, image unit 1 can be realized multivariant motion and comprise image and the information acquisition of video, and can independently judge the current operation conditions of robot by cooperating opto-electronic pickup, ultrasonic transduter, acceleration pick-up etc., adjust optical camera system.
Consider that robot often needs to cross some obstacles, crosses over groove and realizes transition etc. between the different walls in detecting the Bridge Crack process, according to a preferred implementation of the present utility model, also improve the articulation mechanism 3 of machinery foot before and after be used for connecting is corresponding.As shown in Figure 5, described articulation mechanism (3 comprise anterior articulation 8, joint drive motor 9, posterior joint 10 and two flower wheels 11, and wherein an end of anterior articulation 8 and front machinery foot 2 connect firmly, and an other end links to each other with the output shaft of joint drive motor 9; One end of posterior joint 10 and rear machinery foot 4 connect firmly, and an other end links to each other with the output shaft of joint drive motor 9 equally; Two flower wheels 11 are installed in respectively the both sides of joint drive motor 9 by follower shaft bearing 12, and along with the movement of robot respective drive.
The below is converted to example with robot and is further described between different walls.At this moment, rear machinery foot 4 can be adsorbed on the wall and front machinery foot 2 does not adsorb, and the joint drive motor 9 of articulation mechanism 3 rotates and so that be 90 angles of spending between front machinery foot 2 and the rear machinery foot 4; Then robot moves forward, and front machinery foot 2 is attached on the wall.Afterwards, the fan electromotor 18 of front machinery foot 2 drives centrifugal fan 20 High Rotation Speeds and produces negative pressure, make and oneself be adsorbed on the wall, rear machinery foot 4 quits work and does not adsorb, robot moves forward to certain position, joint drive motor in the articulation mechanism makes robot reply initial condition, and the conversion between the different walls is namely finished in all absorption of machinery foot before and after this moment.When obstacle detouring, leap groove, principle is same from the photograph between the different walls, and just the anglec of rotation is different on the joint connecting mechanism, no longer is described in detail at this.
When using according to negative-pressure adsorption climb type robot execution Bridge Crack detection of the present utility model, the staff can move back and forth in the bridge bottom surface by wireless transport module control absorption robot, track route as shown in Figure 8, according to the conversion between different situations realization obstacle detourings, the different wall, leap groove etc., adapt to the bridge floor of different operating modes simultaneously.Robot moving platform carries CCD camera continuous acquisition bridge bottom surface picture, cooperates opto-electronic pickup, ultrasonic transduter, acceleration pick-up etc., independently judges the current operation conditions of robot, adjusts optical camera system.The image of CCD camera collection is transferred to terminal by wireless module, detecting software by the upper computer glue into concrete beam cracks processes it, obtain the parameters such as defects count and geometric properties (length, width, area etc.), for the testing staff provides the failure-free foundation.Realize thus the Bridge Crack measuring ability.
Those skilled in the art will readily understand; the above only is preferred embodiment of the present utility model; not in order to limit the utility model; all any modifications of within spirit of the present utility model and principle, doing, be equal to and replace and improvement etc., all should be included within the protection domain of the present utility model.

Claims (8)

1. the negative-pressure adsorption climb type robot for detection of Bridge Crack is characterized in that, this robot comprises image unit (1), front machinery foot (2), rear machinery foot (4) and wireless communication unit (5), wherein:
Described front machinery foot (2) and rear machinery foot (4) are coupled to each other by articulation mechanism (3), and they possess separately negative-pressure adsorption assembly (6) and drive walking assembly (7), can be adsorbed on thus on the bridge surface of different operating modes and execution is climbed and walked;
Described image unit (1) is arranged on the front machinery foot (2), is used for taking zone to be detected, and shooting results is sent to described wireless communication unit;
Described wireless communication unit (5) is arranged on the rear machinery foot (4), is used for receiving the shooting results of image unit and transmitting it to control terminal, receives simultaneously the instruction of controlling from control terminal.
2. negative-pressure adsorption climb type robot as claimed in claim 1, it is characterized in that, described negative-pressure adsorption assembly (6) comprises fan electromotor (18), body supports plate (19), centrifugal fan (20), streamlined reefer housing (21), sucker (22) and rubber seal skirt (23) from top to bottom successively, wherein fan electromotor (18) is arranged on body supports plate (19) upside, and its main shaft runs through the body supports body downwards; Centrifugal fan (20) connects firmly on the fan electromotor main shaft, and links to each other with sucker (22) by streamlined reefer housing (21); Rubber seal skirt (23) is arranged on sucker (22) downside and its negative pressure cavity is carried out sealing.
3. negative-pressure adsorption climb type robot as claimed in claim 2, it is characterized in that, the lower edges of described rubber seal skirt (23), is avoided sucking particulate matter in the negative-pressure adsorption process in order to realize airflow circulating in the negative-pressure adsorption component internal also with hairbrush (24) simultaneously.
4. such as the described negative-pressure adsorption climb type of claim 1-3 any one robot, it is characterized in that, described driving walking assembly (7) comprises wheel drive motor (25), omni-directional wheel (26) and motor support base (27), wherein motor support base (27) is symmetricly set on the both sides of body supports plate (19), be separately installed with wheel drive motor (25) on each motor support base (27), omni-directional wheel (26) is installed in the both sides of negative-pressure adsorption assembly (6) corresponding to the axle drive shaft of each wheel drive motor, drive the robot motion thus under the driving of wheel drive motor.
5. negative-pressure adsorption climb type robot as claimed in claim 4, it is characterized in that, described image unit (1) comprises the first arm (14), the second arm (16) and CCD camera (13), wherein the first arm (14) links to each other to form revolute pair with the second arm (16) end separately, and an other end of the second arm (16) is arranged on the front machinery foot (2) by rotation platform (17); Described CCD camera is installed in an other end of the first arm (14) free to rotately.
6. negative-pressure adsorption climb type robot as claimed in claim 5 is characterized in that, the junction of described the first arm (14) and the second arm (16) is provided with arm drive motor (15), realizes thus two rotations of arm in vertical plane; The junction of described CCD camera and the first arm (14) is provided with motor equally, is used for adjusting the pitch angle of CCD camera.
7. negative-pressure adsorption climb type robot as claimed in claim 6 is characterized in that, described CCD camera is used for taking image or the video in zone to be detected.
8. negative-pressure adsorption climb type robot as claimed in claim 7, it is characterized in that, described articulation mechanism (3) comprises anterior articulation (8), joint drive motor (9), posterior joint (10) and two flower wheels (11), wherein an end of anterior articulation (8) and front machinery foot (2) connect firmly, and an other end links to each other with the output shaft of joint drive motor (9); One end of posterior joint (10) and rear machinery foot (4) connect firmly, and an other end links to each other with the output shaft of joint drive motor (9); Two flower wheels (11) are installed in respectively the both sides of joint drive motor (9) by follower shaft bearing (12).
CN 201320212534 2013-03-29 2013-04-24 Negative-pressure-suction climbing type robot for detecting bridge crack Expired - Fee Related CN203199070U (en)

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CN103253314A (en) * 2013-03-29 2013-08-21 华中科技大学 Negative pressure absorption climbing type robot used for detecting fissure of bridge
CN103253314B (en) * 2013-03-29 2015-05-20 华中科技大学 Negative pressure absorption climbing type robot used for detecting fissure of bridge
CN104897568A (en) * 2014-09-28 2015-09-09 安徽金培因科技有限公司 Novel tunnel detection apparatus with communication function
CN104859743A (en) * 2015-06-03 2015-08-26 马鞍山聚力科技有限公司 Detection robot based on negative pressure adsorption
CN104908833A (en) * 2015-06-03 2015-09-16 马鞍山聚力科技有限公司 Adsorption device of detection robot
CN109048969A (en) * 2018-10-25 2018-12-21 董翰泽 A kind of self-adapting grasping manipulator
CN109048968A (en) * 2018-10-25 2018-12-21 赵静 A kind of self-adapting intelligent catching robot
CN109264394A (en) * 2018-10-25 2019-01-25 董翰泽 A kind of terrine grasping means of manipulator
CN109708683A (en) * 2019-01-17 2019-05-03 哈尔滨学院 Bridge detecting device
CN110077562A (en) * 2019-05-15 2019-08-02 浙江大学 Migration combination underwater monitoring robot
CN110077562B (en) * 2019-05-15 2023-07-18 浙江大学 Swimming combined underwater monitoring robot
CN111252159A (en) * 2020-03-09 2020-06-09 浙江大学 Wall-climbing robot capable of climbing over inner right-angle wall surface
CN111252159B (en) * 2020-03-09 2021-05-28 浙江大学 Wall-climbing robot capable of climbing over inner right-angle wall surface
CN112540120A (en) * 2020-11-25 2021-03-23 中国铁建高新装备股份有限公司 Bridge detecting system

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